Modeling and control of a parallel robot for needle surgery
The paper discusses the development of the dynamic model and the design of the control system of a new parallel robot called PmarNeedle. The PmarNeedle was purposely designed for needle surgery, one of the current frontiers of minimally invasive surgery, as slave robot driving the surgical tool within a surgical theater whose dimensions are small compared to in use robotic surgery theaters for laparoscopy. The paper presents the PmarNeedle kinematic and dynamic model used to define the control laws and to setup the control parameters. Simple PD control laws with and without nonlinearities compensation filters have been implemented. The work is developed in ProEngineer, Simulink and SimMechanics. Results obtained in the simulation environment are discussed.
S. D’Angella A. Khan F. Cepolina M. Zoppi
Faculty of Engineering,PMAR Robotics,University of Genoa,16145 Genoa,Italy
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3388-3393
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）